From 980d11439045d27065f53688dea78c123bbed2be Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi Date: Mon, 23 Dec 2024 18:06:56 +0900 Subject: [PATCH] fix prepare length too short at low speed (RT1-8909) Signed-off-by: Zulfaqar Azmi --- .../src/utils/calculation.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp index 3ba11d62a2be7..550c0fa290a99 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -417,7 +417,7 @@ double calc_actual_prepare_duration( if (max_acc < eps) { return params.max_prepare_duration; } - return (min_lc_velocity - current_velocity) / max_acc; + return std::max((min_lc_velocity - current_velocity) / max_acc, params.min_prepare_duration); }); return std::max(params.max_prepare_duration - active_signal_duration, min_prepare_duration);